本篇論文以Kalker的線性潛滑模型和Heuristic非線性潛滑模型為基礎，考慮輪軸組的側向位移、垂向位移、翻滾角和搖擺角，以及轉向架框架的側向位移和搖擺角，完整的推導10個自由度的轉向架系統在直線軌道與曲線軌道的運動方程式。論文中將10個自由度的系統運動方程式成功的簡化為6個自由度的系統運動方程式，不管在理論上或數值分析上，亦與文獻相驗證。
　　本篇論文探討不同自由度的轉向架系統對臨界蛇行速度的影響，比較系統參數在使用線性潛滑模型和非線性潛滑模型時，所計算出來的臨界蛇行速度的差異性。同時研究在不同軌道半徑上運動的轉向架系統中，懸吊系統參數對臨界蛇行速度的影響。最後探討在10個自由度的系統中沒有被包含的兩個主懸吊系統參數，在不同的軌道半徑上運動，以及使用不同的圓錐度之車輪的前提下，主懸吊系統垂向彈簧和垂向阻尼對臨界蛇行速度的影響。

　　Using the Kalker’s linear creep model and the heuristic nonlinear creep model, this paper derives the governing differential equations of motion for a truck moving on the tangent and the curved tracks. The truck is modeled by a ten degrees of freedom system which considers the lateral displacement, vertical displacement, roll angle and yaw angle of each wheelset and the lateral displacement and yaw angle of the truck frame. The accuracy of the present analysis is verified by comparing the limiting case and the current numerical results with the findings available in published literature.
　　The influence of the system parameters on the critical hunting speeds evaluated by the linear and the nonlinear creep models are investigated. Meanwhile, the influences of the suspension parameters and radii of tracks on the critical hunting speeds are also illustrated. It is shown that the critical hunting speeds evaluated using the ten degrees of freedom system differ significantly from those calculated using a system with six degrees of freedom. The influences on the critical hunting speeds of certain physical parameters not considered in the six degrees of freedom system are evaluated for wheels of different conicities.

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